The multiplication by operator* between a ScaledIdentityMatrix
and a FieldMatrix only got introduced in Dune 2.9.  Therefore,
avoid it if we are building with earlier versions of Dune.

Move the polar decomposition to a separate file and add the algorithm by Higham and Noferini (from Robin Fraenzel)

In the test for the Higham and Noferini algorithm, we see:
Unfortunately, for matrices that are close to an orthogonal matrix, this algorithm is
about 2x slower. One can benefit from the Higham and Noferini algorithm only if the
matrix is quite far away from an orthogonal one.

Before, the calculation was terminated after exactly three iterations, now the
stopping criterion is fulfilled if the change in the norm of the polar factor is
small enough.

So far, the Cosserat rod energy implementation hat a first-order
finite element space hardcoded.  This patch removes that restriction.
As for the other models in this Dune module, the finite element basis
is now a template parameter of the model energy, and can be set to
any reasonable basis.

The dune-common 2.7 release finally adds all those standard
binary addition, multiplication, etc operators for FieldVector
and FieldMatrix.  Hence we do not have to have our own
implementation anymore.  We still keep it for backward-
compatibility with dune-common 2.6, but guard it behind
cpp conditionals.

Previously, the actual projection happened by calling the constructor
of one of the classes that implements points on a manifold.  This patch
introduces an new method projectOnto, which makes the projection more
explicit.

Makes it faster, but only by 1 or 2 percent.

The method using the SVD works in principle.  However, it does not play nicely
with automatic differentiation, because singular values are not always differentiable.

The method proposed by Higham to compute the polar factor, on the other hand,
is a Newton method at heart.  Therefore, it can be used together with AD without
problems.

[[Imported from SVN: r10076]]

[[Imported from SVN: r10070]]

[[Imported from SVN: r10069]]

As of yet completely untested

[[Imported from SVN: r9898]]

[[Imported from SVN: r9682]]